refactor: improve MCP server resilience and error handling (#579)

- Replace McpError with appropriate standard exceptions (IllegalArgumentException, IllegalStateException) for validation errors
- Change tool/prompt registration to replace existing items instead of rejecting duplicates with warningsi
  - Change addTool behavior to replace existing tools instead of throwing errors
  - Change addPrompt() to allow replacing existing prompts with warning instead of throwing error
- Make removal operations idempotent - log warnings instead of throwing errors for non-existent items
  - Change removePrompt() to log warning instead of throwing error for non-existent prompts
  - Change removeTool() to gracefully handle non-existent tools with warnings instead of errors
- Add listTools() and listPrompts() methods to all server variants (async, sync, stateless)
  - Add listTools() method to all server classes for tool enumeration
  - Add listPrompts() method to all server implementations for retrieving registered prompts
- Improve error construction using McpError.builder() pattern for protocol-specific errors
- Update error handling in session classes to properly propagate McpError JSON-RPC errors
  - Use proper error codes (INVALID_PARAMS) for prompt not found scenarios
- Update tests to reflect new lenient behavior for duplicate registrations and removals
- Add aggregateExceptionMessages() utility method utility to aggregate the exception chains
- Update McpServerSession and McpStreamableServerSession to use the aggregated errors in the json-rpc-error data section

This change makes the MCP server APIs more resilient and user-friendly by using appropriate exception types,
supporting item replacement, and providing listing capabilities while maintaining backward compatibility.

Signed-off-by: Christian Tzolov <christian.tzolov@broadcom.com>